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Autonomous Flight Control for a Large-Scale Unmanned Helicopter { System Identication and Robust Control Systems Design {
 

Summary: Paper
Autonomous Flight Control for a Large-Scale Unmanned Helicopter
{ System Identi»cation and Robust Control Systems Design {
Member Shuichi Adachi (Utsunomiya University)
Member Seiji Hashimoto (Oyama National College of Technology)
Non-member Gou Miyamori (Kawada Industries, Inc.)
Non-member Anzhong Tan (Kawada Industries, Inc.)
Conventional unmanned helicopters are used to spray agricultural chemicals and take aerial photographs.
In the near future, the aircrafts are expected to be used for a wide array of activities, such as rescuing and »re
»ghting. Then, an autonomous ░ight using several sensors typi»ed by a global positioning system (GPS) is
highly expected. In this paper, »rst, system identi»cation experiments for a large-scale unmanned helicopter
are carried out to obtain a numerical model of aircraft dynamics. The attitude error of the helicopter is
compensated by a stability augmentation system that permits the experiments during the ░ight. System
identi»cation results are shown on the dynamics using the measured input and output data. Next, the posi-
tion control systems based on the H1 control theory is constructed by using the identi»ed model. Finally,
the position control experiments suggest that the proposed modeling and design approach is e«ective enough
for practical applications.
Keywords: unmanned helicopter, autonomous ░ight, system identi»cation, robust position control
1. Introduction
Recently, unmanned helicopters, particularly large-

  

Source: Adachi, Shuichi - Electrical and Electronic Engineering, Faculity of Engineering, Utsunomiya University

 

Collections: Engineering